#ifndef MBOT_LINUX_SERIAL_H
#define MBOT_LINUX_SERIAL_H

#include "rclcpp/rclcpp.hpp"
// #include <ros/time.h>
#include <geometry_msgs/msg/transform_stamped.h>
#include <tf2_ros/transform_broadcaster.h>
// #include <nav_msgs/msg/odometry.hpp>
// #include <boost/asio.hpp>
#include <geometry_msgs/msg/twist.hpp>

extern void Serial_Init();
extern void writeSpeed(int* p,unsigned char ctrlFlag);
extern bool readSpeed(unsigned char &checkFlag, unsigned char &statusInfo, unsigned char &errorInfo, 
                      int *speedValues, int *positionValues);
unsigned char getCrc8(unsigned char *ptr, unsigned short len);

#endif
